Doosan M0609 User Manual page 247

A.6 A0912, A0912S
Parameters
J1 (degree)
J2 (degree)
Joint
J3 (degree)
Angle
Limits J4 (degree)
J5 (degree)
J6 (degree)
J1 (degree/s)
J2 (degree/s)
Joint
J3 (degree/s)
Speed
Limits J4 (degree/s)
J5 (degree/s)
J6 (degree/s)
Force (N)
Power (W)
Robot/TCP
Speed (mm/s)
Limits
Momentum (kgm/s)
Collision Detection
Sensitivity (%)
Speed Reduction
Safety I/O
Ratio (%)
Normal
Min Max Default
-360 360 -360~360
-360 360 -95~95
-160 160 -135~135
-360 360 -360~360
-360 360 -135~135
-360 360 -360~360
0 180 180
0 180 180
0 180 180
0 360 360
0 360 360
0 360 360
0 600 300
0 2000 1100
0 8000 2000
0 165
1 100
- - -
247
Reduced
Min Max
-360 360 -360~360
-360 360
-160 160 -135~135
-360 360 -360~360
-360 360 -135~135
-360 360 -360~360
0 180
0 180
0 180
0 360
0 360
0 360
0 600
0 2000
0 8000
82 0 165
75 - -
1 100
Tolerance
(+/-)
Default
3/-3
-95~95 3/-3
3/-3
3/-3
3/-3
3/-3
180
10
180 10
180 10
360 10
360 10
360 10
150
-
180
-
1500
-
50
-
-
-
20 -